/** A test striker option without common decision */
option(Striker)
{
    float p = -2.0f;
    //ArmContact();
    common_transition
    {
	if(theLibCodeRelease.whistleTime>0)
		goto walkStraight;
    }
    initial_state(walkStraight)
    {
        transition
        {
            if(theLibCodeRelease.odometryXSum >= 5800.f)
	     //if(state_time > 50000)
        	goto finish;
        }
        action
        { 
		WalkAtRelativeSpeed(Pose2f(p * theLibCodeRelease.odometryRSum, 0.8f, 0.f));
		//WalkAtRelativeSpeed(Pose2f(0.f, 0.8f, 0.f));
        }
    }

    state(finish)
    {
        action
	{
            Stand();
	}
    }
}
